/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "usb_device.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "TMF8801_Generic.h"
#include "stm32f4_bus.h"
#include "TCA9548A_Generic.h"
#include "usbd_cdc_if.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint16_t distance[4];
  uint8_t TMF8801_CALIB_DATA[]={0x51, 0x13, 0x0, 0x6E, 0x9, 0xA0, 0x43, 0x87, 0xED, 0xD8, 0xD9, 0xB3, 0x7, 0xFC};
  uint8_t TMF8801_ALGO_STATE[]={0xB1, 0xA9, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
  uint8_t chid;
  TMF8801_IO_t  IOCtx;
  TCA9548A_IO_t  IOCtx2;
  static TMF8801_Object_t TMF8801_Obj; 
  static TCA9548A_Object_t TCA9548A_Obj; 
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN 2 */
  IOCtx.Address       = TMF8801_DEVICE_ADDR;
  IOCtx.Init          = MX_I2C1_Init;
  IOCtx.WriteReg      = BSP_I2C1_WriteReg;
  IOCtx.ReadReg       = BSP_I2C1_ReadReg;

  IOCtx2.Address      = TCA9548A_DEVICE_ADDR;
  IOCtx2.Init          = MX_I2C1_Init;
  IOCtx2.WriteData      = BSP_I2C1_WriteData;
  IOCtx2.ReadData       = BSP_I2C1_ReadData;

  TCA9548A_RegisterBusIO(&TCA9548A_Obj, &IOCtx2);
  TMF8801_RegisterBusIO(&TMF8801_Obj, &IOCtx);
  TCA9548A_WriteChID(&TCA9548A_Obj, 0x01);
  HAL_Delay(100);
  //HAL_I2C_Master_Transmit(&hi2c1,0xe0,txbuf,1,10);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		TCA9548A_WriteChID(&TCA9548A_Obj, 0x01);
    HAL_Delay(1);
    distance[0] = TMF8801_GetDistance_mm(&TMF8801_Obj);
		TCA9548A_WriteChID(&TCA9548A_Obj, 0x02);
    HAL_Delay(1);
    distance[1] = TMF8801_GetDistance_mm(&TMF8801_Obj);
		TCA9548A_WriteChID(&TCA9548A_Obj, 0x04);
    HAL_Delay(1);
    distance[2] = TMF8801_GetDistance_mm(&TMF8801_Obj);
		TCA9548A_WriteChID(&TCA9548A_Obj, 0x08);
    HAL_Delay(1);
    distance[3] = TMF8801_GetDistance_mm(&TMF8801_Obj);
    //TCA9548A_WriteChID(&TCA9548A_Obj, (IIC_Channel) chid);
    //TMF8801_ReadID(&TMF8801_Obj, txbuf);
    
    usb_printf("tof1=%d,tof2=%d,tof3=%d,tof4=%d\r\n",distance[0],distance[1],distance[2],distance[3]);
    //HAL_I2C_Mem_Read(&hi2c1,0x82,0xe3,1,txbuf,1,10);
    //HAL_I2C_Master_Transmit(&hi2c1,0x10,txbuf,10,10);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM4 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM4) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
